scena 1.0.0

A Rust-native scene-graph renderer with typed scene state, glTF assets, and explicit prepare/render lifecycles.
Documentation 
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use crate::geometry::Aabb;

use crate::scene::{Quat, Transform, Vec3};

pub(super) fn union_optional(current: Option<Aabb>, next: Aabb) -> Aabb {
    match current {
        Some(current) => union_aabb(current, next),
        None => next,
    }
}

pub(super) fn transform_aabb(bounds: Aabb, transform: Transform) -> Aabb {
    let corners = [
        Vec3::new(bounds.min.x, bounds.min.y, bounds.min.z),
        Vec3::new(bounds.max.x, bounds.min.y, bounds.min.z),
        Vec3::new(bounds.min.x, bounds.max.y, bounds.min.z),
        Vec3::new(bounds.max.x, bounds.max.y, bounds.min.z),
        Vec3::new(bounds.min.x, bounds.min.y, bounds.max.z),
        Vec3::new(bounds.max.x, bounds.min.y, bounds.max.z),
        Vec3::new(bounds.min.x, bounds.max.y, bounds.max.z),
        Vec3::new(bounds.max.x, bounds.max.y, bounds.max.z),
    ];
    let mut transformed = transform_point(corners[0], transform);
    let mut result = Aabb::new(transformed, transformed);
    for corner in &corners[1..] {
        transformed = transform_point(*corner, transform);
        result = union_aabb(result, Aabb::new(transformed, transformed));
    }
    result
}

fn union_aabb(left: Aabb, right: Aabb) -> Aabb {
    Aabb::new(
        Vec3::new(
            left.min.x.min(right.min.x),
            left.min.y.min(right.min.y),
            left.min.z.min(right.min.z),
        ),
        Vec3::new(
            left.max.x.max(right.max.x),
            left.max.y.max(right.max.y),
            left.max.z.max(right.max.z),
        ),
    )
}

fn transform_point(point: Vec3, transform: Transform) -> Vec3 {
    let scaled = Vec3::new(
        point.x * transform.scale.x,
        point.y * transform.scale.y,
        point.z * transform.scale.z,
    );
    add_vec3(
        rotate_vec3(transform.rotation, scaled),
        transform.translation,
    )
}

fn rotate_vec3(rotation: Quat, vector: Vec3) -> Vec3 {
    let length_squared = rotation.x * rotation.x
        + rotation.y * rotation.y
        + rotation.z * rotation.z
        + rotation.w * rotation.w;
    if length_squared <= f32::EPSILON || !length_squared.is_finite() {
        return vector;
    }
    let inverse_length = length_squared.sqrt().recip();
    let qx = rotation.x * inverse_length;
    let qy = rotation.y * inverse_length;
    let qz = rotation.z * inverse_length;
    let qw = rotation.w * inverse_length;
    let tx = 2.0 * (qy * vector.z - qz * vector.y);
    let ty = 2.0 * (qz * vector.x - qx * vector.z);
    let tz = 2.0 * (qx * vector.y - qy * vector.x);
    Vec3::new(
        vector.x + qw * tx + (qy * tz - qz * ty),
        vector.y + qw * ty + (qz * tx - qx * tz),
        vector.z + qw * tz + (qx * ty - qy * tx),
    )
}

fn add_vec3(left: Vec3, right: Vec3) -> Vec3 {
    Vec3::new(left.x + right.x, left.y + right.y, left.z + right.z)
}